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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
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<div class="title">pcl::CRHEstimation&lt; PointInT, PointNT, PointOutT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_c_r_h_estimation.html" title="CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset co...">CRHEstimation</a> estimates the <a class="el" href="class_camera.html">Camera</a> Roll <a class="el" href="structpcl_1_1_histogram.html" title="A point structure representing an N-D histogram.">Histogram</a> (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:  
 <a href="classpcl_1_1_c_r_h_estimation.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="crh_8h_source.html">crh.h</a>&gt;</code></p>
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类 pcl::CRHEstimation&lt; PointInT, PointNT, PointOutT &gt; 继承关系图:</div>
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<table class="memberdecls">
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Public 类型</h2></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_c_r_h_estimation.html">CRHEstimation</a>&lt; PointInT, PointNT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_c_r_h_estimation.html">CRHEstimation</a>&lt; PointInT, PointNT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointNT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudN</b></td></tr>
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typedef PointCloudN::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNPtr</b></td></tr>
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typedef PointCloudN::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt; PointInT, PointNT, <a class="el" href="structpcl_1_1_histogram.html">pcl::Histogram</a>&lt; 90 &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt; PointInT, PointNT, <a class="el" href="structpcl_1_1_histogram.html">pcl::Histogram</a>&lt; 90 &gt; &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt; PointInT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt; PointInT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreePtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
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typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointOutT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
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typedef boost::function&lt; int(size_t, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethod</b></td></tr>
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typedef boost::function&lt; int(const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, size_t index, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethodSurface</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_c_r_h_estimation.html#ad59900973c9c072fbdfa875da25323d2">CRHEstimation</a> ()</td></tr>
<tr class="memdesc:ad59900973c9c072fbdfa875da25323d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:aba9af5cf651e603963884a2f394716e4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_c_r_h_estimation.html#aba9af5cf651e603963884a2f394716e4">setViewPoint</a> (float vpx, float vpy, float vpz)</td></tr>
<tr class="memdesc:aba9af5cf651e603963884a2f394716e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the viewpoint.  <a href="classpcl_1_1_c_r_h_estimation.html#aba9af5cf651e603963884a2f394716e4">更多...</a><br /></td></tr>
<tr class="separator:aba9af5cf651e603963884a2f394716e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7451fcc002fff92263b234bf45b36f60"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_c_r_h_estimation.html#a7451fcc002fff92263b234bf45b36f60">getViewPoint</a> (float &amp;vpx, float &amp;vpy, float &amp;vpz)</td></tr>
<tr class="memdesc:a7451fcc002fff92263b234bf45b36f60"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the viewpoint.  <a href="classpcl_1_1_c_r_h_estimation.html#a7451fcc002fff92263b234bf45b36f60">更多...</a><br /></td></tr>
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<tr class="memitem:a2675818c2709e6f2d9a89503d74661ce"><td class="memItemLeft" align="right" valign="top"><a id="a2675818c2709e6f2d9a89503d74661ce"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>setCentroid</b> (Eigen::Vector4f &amp;centroid)</td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_feature_from_normals"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_feature_from_normals')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals&lt; PointInT, PointNT, pcl::Histogram&lt; 90 &gt; &gt;</a></td></tr>
<tr class="memitem:a158bd4a3ec52800cc8a883ceaefa51c6 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a158bd4a3ec52800cc8a883ceaefa51c6"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#a158bd4a3ec52800cc8a883ceaefa51c6">FeatureFromNormals</a> ()</td></tr>
<tr class="memdesc:a158bd4a3ec52800cc8a883ceaefa51c6 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a158bd4a3ec52800cc8a883ceaefa51c6 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a59bc12a33b1893b361bf246e32282e4f inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a59bc12a33b1893b361bf246e32282e4f"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#a59bc12a33b1893b361bf246e32282e4f">~FeatureFromNormals</a> ()</td></tr>
<tr class="memdesc:a59bc12a33b1893b361bf246e32282e4f inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a59bc12a33b1893b361bf246e32282e4f inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a349685ac9deb723502de9f399d0286dc inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">setInputNormals</a> (const PointCloudNConstPtr &amp;normals)</td></tr>
<tr class="memdesc:a349685ac9deb723502de9f399d0286dc inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!  <a href="classpcl_1_1_feature_from_normals.html#a349685ac9deb723502de9f399d0286dc">更多...</a><br /></td></tr>
<tr class="separator:a349685ac9deb723502de9f399d0286dc inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2eb5090f6a3413a436d5900b386bf8e0 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a2eb5090f6a3413a436d5900b386bf8e0"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#a2eb5090f6a3413a436d5900b386bf8e0">getInputNormals</a> () const</td></tr>
<tr class="memdesc:a2eb5090f6a3413a436d5900b386bf8e0 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the normals of the input XYZ point cloud dataset. <br /></td></tr>
<tr class="separator:a2eb5090f6a3413a436d5900b386bf8e0 inherit pub_methods_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_feature"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_feature')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_feature.html">pcl::Feature&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:a96497e27e1087c0b1e07c8ae84aea152 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a96497e27e1087c0b1e07c8ae84aea152"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a96497e27e1087c0b1e07c8ae84aea152">Feature</a> ()</td></tr>
<tr class="memdesc:a96497e27e1087c0b1e07c8ae84aea152 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a147e6286fc98646910c4b6751278038f inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a147e6286fc98646910c4b6751278038f"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a147e6286fc98646910c4b6751278038f">~Feature</a> ()</td></tr>
<tr class="memdesc:a147e6286fc98646910c4b6751278038f inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a147e6286fc98646910c4b6751278038f inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a14fbb05e0e8f1d1ec766a50353f3c224 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a14fbb05e0e8f1d1ec766a50353f3c224">setSearchSurface</a> (const PointCloudInConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a14fbb05e0e8f1d1ec766a50353f3c224 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.  <a href="classpcl_1_1_feature.html#a14fbb05e0e8f1d1ec766a50353f3c224">更多...</a><br /></td></tr>
<tr class="separator:a14fbb05e0e8f1d1ec766a50353f3c224 inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09320ff2025be07c1e4a378d88588e8d inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a09320ff2025be07c1e4a378d88588e8d"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a09320ff2025be07c1e4a378d88588e8d">getSearchSurface</a> () const</td></tr>
<tr class="memdesc:a09320ff2025be07c1e4a378d88588e8d inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the surface point cloud dataset. <br /></td></tr>
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<tr class="memitem:ace1caca622f06eee8ad1911228324792 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">setSearchMethod</a> (const KdTreePtr &amp;tree)</td></tr>
<tr class="memdesc:ace1caca622f06eee8ad1911228324792 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object.  <a href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">更多...</a><br /></td></tr>
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<tr class="memitem:acc850056d252306c48c481e4bbee1821 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="acc850056d252306c48c481e4bbee1821"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#acc850056d252306c48c481e4bbee1821">getSearchMethod</a> () const</td></tr>
<tr class="memdesc:acc850056d252306c48c481e4bbee1821 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the search method used. <br /></td></tr>
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<tr class="memitem:a86004b18e77cc0c38a1a33fbd43fb760 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a86004b18e77cc0c38a1a33fbd43fb760"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a86004b18e77cc0c38a1a33fbd43fb760">getSearchParameter</a> () const</td></tr>
<tr class="memdesc:a86004b18e77cc0c38a1a33fbd43fb760 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the internal search parameter. <br /></td></tr>
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<tr class="memitem:a50129bc51cb240eca42df9963f7ac0c0 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a50129bc51cb240eca42df9963f7ac0c0">setKSearch</a> (int k)</td></tr>
<tr class="memdesc:a50129bc51cb240eca42df9963f7ac0c0 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of k nearest neighbors to use for the feature estimation.  <a href="classpcl_1_1_feature.html#a50129bc51cb240eca42df9963f7ac0c0">更多...</a><br /></td></tr>
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<tr class="memitem:a94cce071beee358359b14db2edcc62ae inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a94cce071beee358359b14db2edcc62ae"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a94cce071beee358359b14db2edcc62ae">getKSearch</a> () const</td></tr>
<tr class="memdesc:a94cce071beee358359b14db2edcc62ae inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the number of k nearest neighbors used for the feature estimation. <br /></td></tr>
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<tr class="memitem:a44829319486a2dc415a4e068dc55c577 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">setRadiusSearch</a> (double radius)</td></tr>
<tr class="memdesc:a44829319486a2dc415a4e068dc55c577 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.  <a href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">更多...</a><br /></td></tr>
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<tr class="memitem:ac62f459672f3ca0e986e495a9220b268 inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="ac62f459672f3ca0e986e495a9220b268"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ac62f459672f3ca0e986e495a9220b268">getRadiusSearch</a> () const</td></tr>
<tr class="memdesc:ac62f459672f3ca0e986e495a9220b268 inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the sphere radius used for determining the neighbors. <br /></td></tr>
<tr class="separator:ac62f459672f3ca0e986e495a9220b268 inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5b1fa9612da40e738b1d99252c5ff2f inherit pub_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:ad5b1fa9612da40e738b1d99252c5ff2f inherit pub_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()  <a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">更多...</a><br /></td></tr>
<tr class="separator:ad5b1fa9612da40e738b1d99252c5ff2f inherit pub_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointInT &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:a60eed83788289f776b1a8ec1b362b2a4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_c_r_h_estimation.html#a60eed83788289f776b1a8ec1b362b2a4">computeFeature</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:a60eed83788289f776b1a8ec1b362b2a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate the CRH histogram at a set of points given by &lt;setInputCloud (), setIndices ()&gt; using the surface in setSearchSurface ()  <a href="classpcl_1_1_c_r_h_estimation.html#a60eed83788289f776b1a8ec1b362b2a4">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a90466b8bcf35347912440d305870da75"><td class="memItemLeft" align="right" valign="top"><a id="a90466b8bcf35347912440d305870da75"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_c_r_h_estimation.html#a90466b8bcf35347912440d305870da75">vpx_</a></td></tr>
<tr class="memdesc:a90466b8bcf35347912440d305870da75"><td class="mdescLeft">&#160;</td><td class="mdescRight">Values describing the viewpoint ("pinhole" camera model assumed). By default, the viewpoint is set to 0,0,0. <br /></td></tr>
<tr class="separator:a90466b8bcf35347912440d305870da75"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a810029e11562937670013c95a51c5204"><td class="memItemLeft" align="right" valign="top"><a id="a810029e11562937670013c95a51c5204"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>vpy_</b></td></tr>
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<tr class="memitem:a3e62fa34ca2c91c725c72cbb7ace982e"><td class="memItemLeft" align="right" valign="top"><a id="a3e62fa34ca2c91c725c72cbb7ace982e"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>vpz_</b></td></tr>
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<tr class="memitem:a1d802f47ca7251a7c4936b50b2ffa45f"><td class="memItemLeft" align="right" valign="top"><a id="a1d802f47ca7251a7c4936b50b2ffa45f"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_c_r_h_estimation.html#a1d802f47ca7251a7c4936b50b2ffa45f">nbins_</a></td></tr>
<tr class="memdesc:a1d802f47ca7251a7c4936b50b2ffa45f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of bins, this should match the Output type <br /></td></tr>
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<tr class="memitem:a28711222d244c058f51a6e1c8db7afe6"><td class="memItemLeft" align="right" valign="top"><a id="a28711222d244c058f51a6e1c8db7afe6"></a>
Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_c_r_h_estimation.html#a28711222d244c058f51a6e1c8db7afe6">centroid_</a></td></tr>
<tr class="memdesc:a28711222d244c058f51a6e1c8db7afe6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Centroid to be used <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_feature_from_normals"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_feature_from_normals')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals&lt; PointInT, PointNT, pcl::Histogram&lt; 90 &gt; &gt;</a></td></tr>
<tr class="memitem:a2720af3323c9bb15c073156fe568ced3 inherit pro_methods_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="a2720af3323c9bb15c073156fe568ced3"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#a2720af3323c9bb15c073156fe568ced3">initCompute</a> ()</td></tr>
<tr class="memdesc:a2720af3323c9bb15c073156fe568ced3 inherit pro_methods_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation. <br /></td></tr>
<tr class="separator:a2720af3323c9bb15c073156fe568ced3 inherit pro_methods_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_feature"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_feature')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_feature.html">pcl::Feature&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:ae6b4d5717999b6267a670dc704146fdc inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="ae6b4d5717999b6267a670dc704146fdc"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">getClassName</a> () const</td></tr>
<tr class="memdesc:ae6b4d5717999b6267a670dc704146fdc inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
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<tr class="memitem:ab235b6b76033922b19aae91714d7e413 inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="ab235b6b76033922b19aae91714d7e413"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#ab235b6b76033922b19aae91714d7e413">deinitCompute</a> ()</td></tr>
<tr class="memdesc:ab235b6b76033922b19aae91714d7e413 inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after ending the actual computation. <br /></td></tr>
<tr class="separator:ab235b6b76033922b19aae91714d7e413 inherit pro_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa7d2ff6f0db4d63a74a3e01ad2b1f9ab inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">searchForNeighbors</a> (size_t index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</td></tr>
<tr class="memdesc:aa7d2ff6f0db4d63a74a3e01ad2b1f9ab inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for k-nearest neighbors using the spatial locator from <em>setSearchmethod</em>, and the given surface from <em>setSearchSurface</em>.  <a href="classpcl_1_1_feature.html#aa7d2ff6f0db4d63a74a3e01ad2b1f9ab">更多...</a><br /></td></tr>
<tr class="separator:aa7d2ff6f0db4d63a74a3e01ad2b1f9ab inherit pro_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9422bdfb7074f73019e32d55eeda73bb inherit pro_methods_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a9422bdfb7074f73019e32d55eeda73bb">searchForNeighbors</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, size_t index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</td></tr>
<tr class="memdesc:a9422bdfb7074f73019e32d55eeda73bb inherit pro_methods_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for k-nearest neighbors using the spatial locator from <em>setSearchmethod</em>, and the given surface from <em>setSearchSurface</em>.  <a href="classpcl_1_1_feature.html#a9422bdfb7074f73019e32d55eeda73bb">更多...</a><br /></td></tr>
<tr class="separator:a9422bdfb7074f73019e32d55eeda73bb inherit pro_methods_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_feature_from_normals"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_feature_from_normals')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals&lt; PointInT, PointNT, pcl::Histogram&lt; 90 &gt; &gt;</a></td></tr>
<tr class="memitem:aabc97906d7c9620d70c5a16de5a48c31 inherit pro_attribs_classpcl_1_1_feature_from_normals"><td class="memItemLeft" align="right" valign="top"><a id="aabc97906d7c9620d70c5a16de5a48c31"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a></td></tr>
<tr class="memdesc:aabc97906d7c9620d70c5a16de5a48c31 inherit pro_attribs_classpcl_1_1_feature_from_normals"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the input dataset that contains the point normals of the XYZ dataset. <br /></td></tr>
<tr class="separator:aabc97906d7c9620d70c5a16de5a48c31 inherit pro_attribs_classpcl_1_1_feature_from_normals"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_feature"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_feature')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_feature.html">pcl::Feature&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:a54032b79551164878ff59ed93b5c1dc5 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a54032b79551164878ff59ed93b5c1dc5"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a></td></tr>
<tr class="memdesc:a54032b79551164878ff59ed93b5c1dc5 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The feature name. <br /></td></tr>
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<tr class="memitem:af2d27cdd139bd79335008303cf68ba82 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="af2d27cdd139bd79335008303cf68ba82"></a>
SearchMethodSurface&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#af2d27cdd139bd79335008303cf68ba82">search_method_surface_</a></td></tr>
<tr class="memdesc:af2d27cdd139bd79335008303cf68ba82 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search method template for points. <br /></td></tr>
<tr class="separator:af2d27cdd139bd79335008303cf68ba82 inherit pro_attribs_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a98f8c497ac78cf49d9274c3ab5fe52df inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a98f8c497ac78cf49d9274c3ab5fe52df"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a></td></tr>
<tr class="memdesc:a98f8c497ac78cf49d9274c3ab5fe52df inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">An input point cloud describing the surface that is to be used for nearest neighbors estimation. <br /></td></tr>
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<tr class="memitem:a7ce882e12198b2b2373cc31ba27b0ef1 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a7ce882e12198b2b2373cc31ba27b0ef1"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a7ce882e12198b2b2373cc31ba27b0ef1">tree_</a></td></tr>
<tr class="memdesc:a7ce882e12198b2b2373cc31ba27b0ef1 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object. <br /></td></tr>
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<tr class="memitem:a0d21af8f0a11aa224026f6bb8e3060e7 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a0d21af8f0a11aa224026f6bb8e3060e7"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a0d21af8f0a11aa224026f6bb8e3060e7">search_parameter_</a></td></tr>
<tr class="memdesc:a0d21af8f0a11aa224026f6bb8e3060e7 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The actual search parameter (from either <em>search_radius_</em> or <em>k_</em>). <br /></td></tr>
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<tr class="memitem:a2c52e9b0412b8ce790837b24cd99f0af inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a2c52e9b0412b8ce790837b24cd99f0af"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a></td></tr>
<tr class="memdesc:a2c52e9b0412b8ce790837b24cd99f0af inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The nearest neighbors search radius for each point. <br /></td></tr>
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<tr class="memitem:a3f68793061ef0973bdacfea56cf5ae21 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="a3f68793061ef0973bdacfea56cf5ae21"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a></td></tr>
<tr class="memdesc:a3f68793061ef0973bdacfea56cf5ae21 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of K nearest neighbors to use for each point. <br /></td></tr>
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<tr class="memitem:aa08fc132189062dabfa291701fa46440 inherit pro_attribs_classpcl_1_1_feature"><td class="memItemLeft" align="right" valign="top"><a id="aa08fc132189062dabfa291701fa46440"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature.html#aa08fc132189062dabfa291701fa46440">fake_surface_</a></td></tr>
<tr class="memdesc:aa08fc132189062dabfa291701fa46440 inherit pro_attribs_classpcl_1_1_feature"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no surface is given, we use the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> as the surface. <br /></td></tr>
<tr class="separator:aa08fc132189062dabfa291701fa46440 inherit pro_attribs_classpcl_1_1_feature"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
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<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointInT, typename PointNT, typename PointOutT = pcl::Histogram&lt;90&gt;&gt;<br />
class pcl::CRHEstimation&lt; PointInT, PointNT, PointOutT &gt;</h3>

<p><a class="el" href="classpcl_1_1_c_r_h_estimation.html" title="CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset co...">CRHEstimation</a> estimates the <a class="el" href="class_camera.html">Camera</a> Roll <a class="el" href="structpcl_1_1_histogram.html" title="A point structure representing an N-D histogram.">Histogram</a> (CRH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in: </p>
<ul>
<li>CAD-Model Recognition and 6 DOF Pose Estimation A. Aldoma, N. Blodow, D. Gossow, S. Gedikli, R.B. Rusu, M. Vincze and G. Bradski ICCV 2011, 3D Representation and Recognition (3dRR11) workshop Barcelona, Spain, (2011)</li>
</ul>
<p>The suggested PointOutT is pcl::Histogram&lt;90&gt;. //dc (real) + 44 complex numbers (real, imaginary) + nyquist (real)</p>
<dl class="section author"><dt>作者</dt><dd>Aitor Aldoma </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a60eed83788289f776b1a8ec1b362b2a4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a60eed83788289f776b1a8ec1b362b2a4">&#9670;&nbsp;</a></span>computeFeature()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_c_r_h_estimation.html">pcl::CRHEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::computeFeature </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate the CRH histogram at a set of points given by &lt;setInputCloud (), setIndices ()&gt; using the surface in setSearchSurface () </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>the resultant point cloud with a CRH histogram </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_feature.html#ace6344a05ab920294e725ef503cac0c0">pcl::Feature&lt; PointInT, PointOutT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="comment">// Check if input was set</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a>)</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::computeFeature] No input dataset containing normals was given!\n&quot;</span>, <a class="code" href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    output.width = output.height = 0;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    output.points.clear ();</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a>-&gt;points.size () != <a class="code" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a>-&gt;points.size ())</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::computeFeature] The number of points in the input dataset differs from the number of points in the dataset containing the normals!\n&quot;</span>, <a class="code" href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    output.width = output.height = 0;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    output.points.clear ();</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  Eigen::Vector3f plane_normal;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  plane_normal[0] = -<a class="code" href="classpcl_1_1_c_r_h_estimation.html#a28711222d244c058f51a6e1c8db7afe6">centroid_</a>[0];</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  plane_normal[1] = -<a class="code" href="classpcl_1_1_c_r_h_estimation.html#a28711222d244c058f51a6e1c8db7afe6">centroid_</a>[1];</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  plane_normal[2] = -<a class="code" href="classpcl_1_1_c_r_h_estimation.html#a28711222d244c058f51a6e1c8db7afe6">centroid_</a>[2];</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  Eigen::Vector3f z_vector = Eigen::Vector3f::UnitZ ();</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  plane_normal.normalize ();</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  Eigen::Vector3f axis = plane_normal.cross (z_vector);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">double</span> rotation = -asin (axis.norm ());</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  axis.normalize ();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordtype">int</span> nbins = <a class="code" href="classpcl_1_1_c_r_h_estimation.html#a1d802f47ca7251a7c4936b50b2ffa45f">nbins_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">int</span> bin_angle = 360 / nbins;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  Eigen::Affine3f transformPC (Eigen::AngleAxisf (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rotation), axis));</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointNormal&gt;</a> grid;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  grid.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (<a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size ());</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a>-&gt;size (); i++)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    grid.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getVector4fMap () = <a class="code" href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">surface_</a>-&gt;points[(*indices_)[i]].getVector4fMap ();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    grid.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getNormalVector4fMap () = <a class="code" href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">normals_</a>-&gt;points[(*indices_)[i]].getNormalVector4fMap ();</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <a class="code" href="group__common.html#ga01dcf9e24dec3109a0c8a8b8f2e24bcc">pcl::transformPointCloudWithNormals</a> (grid, grid, transformPC);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="comment">//fill spatial data vector and the zero-initialize or &quot;value-initialize&quot; an array on c++, </span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="comment">// the initialization is made with () after the [nbins]</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  kiss_fft_scalar * spatial_data = <span class="keyword">new</span> kiss_fft_scalar[nbins]();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordtype">float</span> sum_w = 0, w = 0;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordtype">int</span> bin = 0;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; grid.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    bin = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((((atan2 (grid.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_y, grid.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_x) + M_PI) * 180 / M_PI) / bin_angle)) % nbins;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    w = std::sqrt (grid.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_y * grid.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_y + grid.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_x * grid.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_x);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    sum_w += w;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    spatial_data[bin] += w;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nbins; ++i)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    spatial_data[i] /= sum_w;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <a class="code" href="structkiss__fft__cpx.html">kiss_fft_cpx</a> * freq_data = <span class="keyword">new</span> <a class="code" href="structkiss__fft__cpx.html">kiss_fft_cpx</a>[nbins / 2 + 1];</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  kiss_fftr_cfg mycfg = kiss_fftr_alloc (nbins, 0, NULL, NULL);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  kiss_fftr (mycfg, spatial_data, freq_data);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  output.points.resize (1);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  output.width = output.height = 1;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  output.points[0].histogram[0] = freq_data[0].r / freq_data[0].r; <span class="comment">//dc</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keywordtype">int</span> k = 1;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; (nbins / 2); i++, k += 2)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    output.points[0].histogram[k] = freq_data[i].r / freq_data[0].r;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    output.points[0].histogram[k + 1] = freq_data[i].i / freq_data[0].r;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  output.points[0].histogram[nbins - 1] = freq_data[nbins / 2].r / freq_data[0].r; <span class="comment">//nyquist</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keyword">delete</span>[] spatial_data;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keyword">delete</span>[] freq_data;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_estimation_html_a1d802f47ca7251a7c4936b50b2ffa45f"><div class="ttname"><a href="classpcl_1_1_c_r_h_estimation.html#a1d802f47ca7251a7c4936b50b2ffa45f">pcl::CRHEstimation::nbins_</a></div><div class="ttdeci">int nbins_</div><div class="ttdoc">Number of bins, this should match the Output type</div><div class="ttdef"><b>Definition:</b> crh.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_estimation_html_a28711222d244c058f51a6e1c8db7afe6"><div class="ttname"><a href="classpcl_1_1_c_r_h_estimation.html#a28711222d244c058f51a6e1c8db7afe6">pcl::CRHEstimation::centroid_</a></div><div class="ttdeci">Eigen::Vector4f centroid_</div><div class="ttdoc">Centroid to be used</div><div class="ttdef"><b>Definition:</b> crh.h:128</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html_aabc97906d7c9620d70c5a16de5a48c31"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html#aabc97906d7c9620d70c5a16de5a48c31">pcl::FeatureFromNormals&lt; PointInT, PointNT, pcl::Histogram&lt; 90 &gt; &gt;::normals_</a></div><div class="ttdeci">PointCloudNConstPtr normals_</div><div class="ttdoc">A pointer to the input dataset that contains the point normals of the XYZ dataset.</div><div class="ttdef"><b>Definition:</b> feature.h:354</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a98f8c497ac78cf49d9274c3ab5fe52df"><div class="ttname"><a href="classpcl_1_1_feature.html#a98f8c497ac78cf49d9274c3ab5fe52df">pcl::Feature::surface_</a></div><div class="ttdeci">PointCloudInConstPtr surface_</div><div class="ttdoc">An input point cloud describing the surface that is to be used for nearest neighbors estimation.</div><div class="ttdef"><b>Definition:</b> feature.h:230</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ae6b4d5717999b6267a670dc704146fdc"><div class="ttname"><a href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">pcl::Feature::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> feature.h:246</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase&lt; PointInT &gt;::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointNormal &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="agroup__common_html_ga01dcf9e24dec3109a0c8a8b8f2e24bcc"><div class="ttname"><a href="group__common.html#ga01dcf9e24dec3109a0c8a8b8f2e24bcc">pcl::transformPointCloudWithNormals</a></div><div class="ttdeci">void transformPointCloudWithNormals(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Matrix&lt; Scalar, 4, 4 &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Transform a point cloud and rotate its normals using an Eigen transform.</div><div class="ttdef"><b>Definition:</b> transforms.h:307</div></div>
<div class="ttc" id="astructkiss__fft__cpx_html"><div class="ttname"><a href="structkiss__fft__cpx.html">kiss_fft_cpx</a></div><div class="ttdef"><b>Definition:</b> kiss_fft.h:57</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a7451fcc002fff92263b234bf45b36f60">&#9670;&nbsp;</a></span>getViewPoint()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT  = pcl::Histogram&lt;90&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
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          <td class="memname">void <a class="el" href="classpcl_1_1_c_r_h_estimation.html">pcl::CRHEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::getViewPoint </td>
          <td>(</td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>vpx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>vpy</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>vpz</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Get the viewpoint. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">vpx</td><td>the X coordinate of the viewpoint </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">vpy</td><td>the Y coordinate of the viewpoint </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">vpz</td><td>the Z coordinate of the viewpoint </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        vpx = <a class="code" href="classpcl_1_1_c_r_h_estimation.html#a90466b8bcf35347912440d305870da75">vpx_</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        vpy = vpy_;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        vpz = vpz_;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_c_r_h_estimation_html_a90466b8bcf35347912440d305870da75"><div class="ttname"><a href="classpcl_1_1_c_r_h_estimation.html#a90466b8bcf35347912440d305870da75">pcl::CRHEstimation::vpx_</a></div><div class="ttdeci">float vpx_</div><div class="ttdoc">Values describing the viewpoint (&quot;pinhole&quot; camera model assumed). By default, the viewpoint is set to...</div><div class="ttdef"><b>Definition:</b> crh.h:122</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aba9af5cf651e603963884a2f394716e4">&#9670;&nbsp;</a></span>setViewPoint()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointNT , typename PointOutT  = pcl::Histogram&lt;90&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_c_r_h_estimation.html">pcl::CRHEstimation</a>&lt; PointInT, PointNT, PointOutT &gt;::setViewPoint </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>vpx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>vpy</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>vpz</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the viewpoint. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">vpx</td><td>the X coordinate of the viewpoint </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">vpy</td><td>the Y coordinate of the viewpoint </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">vpz</td><td>the Z coordinate of the viewpoint </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="classpcl_1_1_c_r_h_estimation.html#a90466b8bcf35347912440d305870da75">vpx_</a> = vpx;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        vpy_ = vpy;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        vpz_ = vpz;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      }</div>
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